137 lines
4.8 KiB
C++
137 lines
4.8 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2015 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: sameeragarwal@google.com (Sameer Agarwal)
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#include <map>
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#include "ceres/problem_impl.h"
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#include "ceres/sized_cost_function.h"
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#include "ceres/solver.h"
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#include "ceres/line_search_preprocessor.h"
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#include "gtest/gtest.h"
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namespace ceres {
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namespace internal {
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TEST(LineSearchPreprocessor, ZeroProblem) {
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ProblemImpl problem;
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Solver::Options options;
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options.minimizer_type = LINE_SEARCH;
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LineSearchPreprocessor preprocessor;
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PreprocessedProblem pp;
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EXPECT_TRUE(preprocessor.Preprocess(options, &problem, &pp));
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}
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TEST(LineSearchPreprocessor, ProblemWithInvalidParameterBlock) {
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ProblemImpl problem;
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double x = std::numeric_limits<double>::quiet_NaN();
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problem.AddParameterBlock(&x, 1);
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Solver::Options options;
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options.minimizer_type = LINE_SEARCH;
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LineSearchPreprocessor preprocessor;
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PreprocessedProblem pp;
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EXPECT_FALSE(preprocessor.Preprocess(options, &problem, &pp));
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}
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TEST(LineSearchPreprocessor, ParameterBlockHasBounds) {
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ProblemImpl problem;
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double x = 1.0;
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problem.AddParameterBlock(&x, 1);
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problem.SetParameterUpperBound(&x, 0, 1.0);
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problem.SetParameterLowerBound(&x, 0, 2.0);
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Solver::Options options;
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options.minimizer_type = LINE_SEARCH;
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LineSearchPreprocessor preprocessor;
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PreprocessedProblem pp;
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EXPECT_FALSE(preprocessor.Preprocess(options, &problem, &pp));
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}
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class FailingCostFunction : public SizedCostFunction<1, 1> {
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public:
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bool Evaluate(double const* const* parameters,
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double* residuals,
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double** jacobians) const {
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return false;
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}
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};
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TEST(LineSearchPreprocessor, RemoveParameterBlocksFailed) {
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ProblemImpl problem;
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double x = 3.0;
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problem.AddResidualBlock(new FailingCostFunction, NULL, &x);
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problem.SetParameterBlockConstant(&x);
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Solver::Options options;
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options.minimizer_type = LINE_SEARCH;
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LineSearchPreprocessor preprocessor;
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PreprocessedProblem pp;
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EXPECT_FALSE(preprocessor.Preprocess(options, &problem, &pp));
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}
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TEST(LineSearchPreprocessor, RemoveParameterBlocksSucceeds) {
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ProblemImpl problem;
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double x = 3.0;
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problem.AddParameterBlock(&x, 1);
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Solver::Options options;
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options.minimizer_type = LINE_SEARCH;
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LineSearchPreprocessor preprocessor;
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PreprocessedProblem pp;
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EXPECT_TRUE(preprocessor.Preprocess(options, &problem, &pp));
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}
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template<int kNumResiduals, int N1 = 0, int N2 = 0, int N3 = 0>
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class DummyCostFunction : public SizedCostFunction<kNumResiduals, N1, N2, N3> {
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public:
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bool Evaluate(double const* const* parameters,
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double* residuals,
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double** jacobians) const {
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return true;
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}
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};
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TEST(LineSearchPreprocessor, NormalOperation) {
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ProblemImpl problem;
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double x = 1.0;
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double y = 1.0;
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double z = 1.0;
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problem.AddResidualBlock(new DummyCostFunction<1, 1, 1>, NULL, &x, &y);
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problem.AddResidualBlock(new DummyCostFunction<1, 1, 1>, NULL, &y, &z);
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Solver::Options options;
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options.minimizer_type = LINE_SEARCH;
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LineSearchPreprocessor preprocessor;
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PreprocessedProblem pp;
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EXPECT_TRUE(preprocessor.Preprocess(options, &problem, &pp));
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EXPECT_EQ(pp.evaluator_options.linear_solver_type, CGNR);
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EXPECT_TRUE(pp.evaluator.get() != NULL);
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}
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} // namespace internal
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} // namespace ceres
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